Research and Development of Simulation System for Restoring Motor Functions of Paralyzed Extremities by FES

(1)建立肌肉骨骼模型并实现站立运动的计算机模拟。使用肌肉骨骼模型和优化方法通过计算机模拟实现了站立运动刺激数据的生成。正常人肌电信号与生成的刺激数据的比较表明，利用模型仿真和优化的方法能够有效地生成标准的刺激数据。(2)针对特定患者的情况，提出了扭矩发生器模型及该模型的参数辨识方法。计算机模拟可以预测刺激正常受试者的一侧膝伸肌所引起的反应。还研究了包括肌肉骨骼系统的非线性特性和几何结构的肌肉骨骼模型。通过试错方式进行参数调整后，预测了正常受试者的部分实验结果。(3) 对于非线性和时变特征的建模，i) 发现 FES 临床应用中使用的刺激频率为 20Hz 时会出现肌肉增强。ii) M 波和近红外光谱被发现可用于肌肉疲劳检测。 iii）开发了基于游戏学的肌肉激活模型，并通过该模型预测了肌肉反应中的增强和捕捉特性。（4）提出了一种由特定运动代表的控制命令的检测方法，用于运动障碍患者的系统操作。人工神经网络可以识别正常受试者和C5-6四肢瘫痪患者通过3维位置传感器或加速度计测量的运动。(5)假设患者使用轮椅，提出了一种达到目标检测的方法，用于任意达到恢复。到达目标检测系统由激光指示器和3维位置/角度传感器组成。发现该检测系统在实际中是有用的。较少的

(1) Musculoskeletal model was developed and computer simulation of standing up motion was implemented. Generation of stimulation data for standing up motion was achieved by the computer simulation using the musculoskeletal model with the optimizing method. Comparison between EMG signals of normals and the generated stimulation data showed that the method of using model simulation and the optimization was effective in generating standard stimulation data.(2) Torque generator model and parameter identification method of the model was proposed for representation of a certain patient. Computer simulation could predict responses caused by stimulating one knee extensor muscle of a normal subject. A musculoskeletal model including nonlinear characteristics and geometric structure of the musculoskeletal system was also studied. Part of experimental results with normal subjects was predicted after parameter tuning by trial and error manner.(3) For modeling of nonlinear and time variable charact … More eristics, i) it was found that muscle potentiation occurred at 20Hz of stimulus frequency that used in clinical applications of FES.ii) M-waves and near infrared spectroscopy was found to be useful in muscle fatigue detection. iii) muscle activation model based on the playsiology was developed ant predictions of the potentiation and the catch property in muscle response was predicted by the model.(4) A detection method of control commands that were represented by specific movements was proposed for system operation by motor disabled patients. Movements of normal subjects and a C5-6 qtuadriplegic patient measured by a 3 dimensional position sensor or an accelerometer could be recognized by an artificial neural network.(5) A method of reaching target detection was proposed for arbitrary reaching restoration assuming patients who used the wheelchair. Reaching target detection system was composed of a laser pointer and 3 dimensional position/angle sensors. The detection system was found to be useful in practical. Less